| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled apparatus having an obstacle-sensing bumper smoothly moved to sense an obstacle to accurately sense the obstacle. SOLUTION: A bumper-supporting portion 11 for supporting a bumper 10 to be horizontally moved relative to an apparatus body 7, and is provided with a supporting wheel 15A and a wheel operation surface 16 with which the supporting wheel 15A makes contact to turn the supporting wheel, so that the bumper 10 is horizontally moved. Thus, the bumper 10 has a reduced sliding friction by the action of the supporting wheel 15A and the wheel operation surface 16, is smoothly moved, and accurately detects the obstacle. COPYRIGHT: (C)2009,JPO&INPIT
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